Bundle adjustment#
Work in progress
Placeholder content. Being rewritten with figures.
The vendor’s camera models are slightly inaccurate; bundle adjustment refines them by minimizing reprojection errors of features matched between input images.
What the optimizer does#
Given initial cameras and tie points, bundle_adjust jointly varies camera parameters and 3D tie-point positions to drive reprojection error toward zero.
Why this matters for stereo#
Without bundle adjustment, vendor camera misalignment shows up as bias and tilt in the final DEM; with it, residual reprojection error and DEM bias both shrink.
Outputs you can visualize#
Initial- and final-pass per-tie-point residual CSVs (*-initial_residuals_pointmap.csv, *-final_residuals_pointmap.csv) are read by asp_plot.bundle_adjust.PlotBundleAdjustFiles for before/after comparison.
Common knobs#
Interest-point density (--ip-per-image), tie-point penalty (--tri-weight, --tri-robust-threshold), and camera-anchor weight (--camera-weight) are the parameters most often tuned.